<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>MRSL JPS3D Library: JPS::GraphSearch Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
   </div>
   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.13 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><b>JPS</b></li><li class="navelem"><a class="el" href="classJPS_1_1GraphSearch.html">GraphSearch</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="classJPS_1_1GraphSearch-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">JPS::GraphSearch Class Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classJPS_1_1GraphSearch.html" title="GraphSearch class. ">GraphSearch</a> class.  
 <a href="classJPS_1_1GraphSearch.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="jps__planner_2graph__search_8h_source.html">graph_search.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aed8ddc08aa6e343b095505c230c4294b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#aed8ddc08aa6e343b095505c230c4294b">GraphSearch</a> (const char *cMap, int xDim, int yDim, double eps=1, bool verbose=false)</td></tr>
<tr class="memdesc:aed8ddc08aa6e343b095505c230c4294b"><td class="mdescLeft">&#160;</td><td class="mdescRight">2D graph search constructor  <a href="#aed8ddc08aa6e343b095505c230c4294b">More...</a><br /></td></tr>
<tr class="separator:aed8ddc08aa6e343b095505c230c4294b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9025917e37cc0e2d551e1f92bb8360df"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a9025917e37cc0e2d551e1f92bb8360df">GraphSearch</a> (const char *cMap, int xDim, int yDim, int zDim, double eps=1, bool verbose=false)</td></tr>
<tr class="memdesc:a9025917e37cc0e2d551e1f92bb8360df"><td class="mdescLeft">&#160;</td><td class="mdescRight">3D graph search constructor  <a href="#a9025917e37cc0e2d551e1f92bb8360df">More...</a><br /></td></tr>
<tr class="separator:a9025917e37cc0e2d551e1f92bb8360df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba5529f28299cb6045efe5ab48990d94"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#aba5529f28299cb6045efe5ab48990d94">plan</a> (int xStart, int yStart, int xGoal, int yGoal, bool useJps, int maxExpand=-1)</td></tr>
<tr class="memdesc:aba5529f28299cb6045efe5ab48990d94"><td class="mdescLeft">&#160;</td><td class="mdescRight">start 2D planning thread  <a href="#aba5529f28299cb6045efe5ab48990d94">More...</a><br /></td></tr>
<tr class="separator:aba5529f28299cb6045efe5ab48990d94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49634772a36c414fcfdb80a0ba17ef63"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a49634772a36c414fcfdb80a0ba17ef63">plan</a> (int xStart, int yStart, int zStart, int xGoal, int yGoal, int zGoal, bool useJps, int maxExpand=-1)</td></tr>
<tr class="memdesc:a49634772a36c414fcfdb80a0ba17ef63"><td class="mdescLeft">&#160;</td><td class="mdescRight">start 3D planning thread  <a href="#a49634772a36c414fcfdb80a0ba17ef63">More...</a><br /></td></tr>
<tr class="separator:a49634772a36c414fcfdb80a0ba17ef63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc943331e019c3c718cd80f4c4064753"><td class="memItemLeft" align="right" valign="top"><a id="abc943331e019c3c718cd80f4c4064753"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#abc943331e019c3c718cd80f4c4064753">getPath</a> () const</td></tr>
<tr class="memdesc:abc943331e019c3c718cd80f4c4064753"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the optimal path. <br /></td></tr>
<tr class="separator:abc943331e019c3c718cd80f4c4064753"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4e40596f80a9ceaba5f2c1a6f033ea7"><td class="memItemLeft" align="right" valign="top"><a id="ab4e40596f80a9ceaba5f2c1a6f033ea7"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#ab4e40596f80a9ceaba5f2c1a6f033ea7">getOpenSet</a> () const</td></tr>
<tr class="memdesc:ab4e40596f80a9ceaba5f2c1a6f033ea7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states in open set. <br /></td></tr>
<tr class="separator:ab4e40596f80a9ceaba5f2c1a6f033ea7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae172f4fd2aff4d2fdca7b9abfb1006bf"><td class="memItemLeft" align="right" valign="top"><a id="ae172f4fd2aff4d2fdca7b9abfb1006bf"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#ae172f4fd2aff4d2fdca7b9abfb1006bf">getCloseSet</a> () const</td></tr>
<tr class="memdesc:ae172f4fd2aff4d2fdca7b9abfb1006bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states in close set. <br /></td></tr>
<tr class="separator:ae172f4fd2aff4d2fdca7b9abfb1006bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81f8c0a2d42ab5af6158e37a0948fc75"><td class="memItemLeft" align="right" valign="top"><a id="a81f8c0a2d42ab5af6158e37a0948fc75"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a81f8c0a2d42ab5af6158e37a0948fc75">getAllSet</a> () const</td></tr>
<tr class="memdesc:a81f8c0a2d42ab5af6158e37a0948fc75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states in hash map. <br /></td></tr>
<tr class="separator:a81f8c0a2d42ab5af6158e37a0948fc75"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr class="memitem:ace907ec84b5f2a261de5229e9763e6ce"><td class="memItemLeft" align="right" valign="top"><a id="ace907ec84b5f2a261de5229e9763e6ce"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#ace907ec84b5f2a261de5229e9763e6ce">plan</a> (StatePtr &amp;currNode_ptr, int max_expand, int start_id, int goal_id)</td></tr>
<tr class="memdesc:ace907ec84b5f2a261de5229e9763e6ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main planning loop. <br /></td></tr>
<tr class="separator:ace907ec84b5f2a261de5229e9763e6ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7980f365beb43cd2f7a4bba363117c7"><td class="memItemLeft" align="right" valign="top"><a id="af7980f365beb43cd2f7a4bba363117c7"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#af7980f365beb43cd2f7a4bba363117c7">getSucc</a> (const StatePtr &amp;curr, std::vector&lt; int &gt; &amp;succ_ids, std::vector&lt; double &gt; &amp;succ_costs)</td></tr>
<tr class="memdesc:af7980f365beb43cd2f7a4bba363117c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get successor function for A*. <br /></td></tr>
<tr class="separator:af7980f365beb43cd2f7a4bba363117c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65f4a24fa9d8033d7805ee84132e668d"><td class="memItemLeft" align="right" valign="top"><a id="a65f4a24fa9d8033d7805ee84132e668d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a65f4a24fa9d8033d7805ee84132e668d">getJpsSucc</a> (const StatePtr &amp;curr, std::vector&lt; int &gt; &amp;succ_ids, std::vector&lt; double &gt; &amp;succ_costs)</td></tr>
<tr class="memdesc:a65f4a24fa9d8033d7805ee84132e668d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get successor function for JPS. <br /></td></tr>
<tr class="separator:a65f4a24fa9d8033d7805ee84132e668d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a432cf1e1c8f0b43646b15748ee5a5d56"><td class="memItemLeft" align="right" valign="top"><a id="a432cf1e1c8f0b43646b15748ee5a5d56"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a432cf1e1c8f0b43646b15748ee5a5d56">recoverPath</a> (StatePtr node, int id)</td></tr>
<tr class="memdesc:a432cf1e1c8f0b43646b15748ee5a5d56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recover the optimal path. <br /></td></tr>
<tr class="separator:a432cf1e1c8f0b43646b15748ee5a5d56"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28a092e66b86baf85f225496bb68fb6f"><td class="memItemLeft" align="right" valign="top"><a id="a28a092e66b86baf85f225496bb68fb6f"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a28a092e66b86baf85f225496bb68fb6f">coordToId</a> (int x, int y) const</td></tr>
<tr class="memdesc:a28a092e66b86baf85f225496bb68fb6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get subscript. <br /></td></tr>
<tr class="separator:a28a092e66b86baf85f225496bb68fb6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9e467980bbaee19f3001852e2da8001e"><td class="memItemLeft" align="right" valign="top"><a id="a9e467980bbaee19f3001852e2da8001e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a9e467980bbaee19f3001852e2da8001e">coordToId</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:a9e467980bbaee19f3001852e2da8001e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get subscript. <br /></td></tr>
<tr class="separator:a9e467980bbaee19f3001852e2da8001e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3442f3918356356034c4c583bfff3975"><td class="memItemLeft" align="right" valign="top"><a id="a3442f3918356356034c4c583bfff3975"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a3442f3918356356034c4c583bfff3975">isFree</a> (int x, int y) const</td></tr>
<tr class="memdesc:a3442f3918356356034c4c583bfff3975"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if (x, y) is free. <br /></td></tr>
<tr class="separator:a3442f3918356356034c4c583bfff3975"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8288f4b6acca97c9bf39dadc5236c78"><td class="memItemLeft" align="right" valign="top"><a id="af8288f4b6acca97c9bf39dadc5236c78"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#af8288f4b6acca97c9bf39dadc5236c78">isFree</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:af8288f4b6acca97c9bf39dadc5236c78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if (x, y, z) is free. <br /></td></tr>
<tr class="separator:af8288f4b6acca97c9bf39dadc5236c78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abeb6da93ddad8e38af801f3b0220ed7f"><td class="memItemLeft" align="right" valign="top"><a id="abeb6da93ddad8e38af801f3b0220ed7f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#abeb6da93ddad8e38af801f3b0220ed7f">isOccupied</a> (int x, int y) const</td></tr>
<tr class="memdesc:abeb6da93ddad8e38af801f3b0220ed7f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if (x, y) is occupied. <br /></td></tr>
<tr class="separator:abeb6da93ddad8e38af801f3b0220ed7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc1ce54f571547ea8f1efde2e848e249"><td class="memItemLeft" align="right" valign="top"><a id="afc1ce54f571547ea8f1efde2e848e249"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#afc1ce54f571547ea8f1efde2e848e249">isOccupied</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:afc1ce54f571547ea8f1efde2e848e249"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if (x, y, z) is occupied. <br /></td></tr>
<tr class="separator:afc1ce54f571547ea8f1efde2e848e249"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a240f13b1fe8d6f7c50aca2280ef775cf"><td class="memItemLeft" align="right" valign="top"><a id="a240f13b1fe8d6f7c50aca2280ef775cf"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a240f13b1fe8d6f7c50aca2280ef775cf">getHeur</a> (int x, int y) const</td></tr>
<tr class="memdesc:a240f13b1fe8d6f7c50aca2280ef775cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clculate heuristic. <br /></td></tr>
<tr class="separator:a240f13b1fe8d6f7c50aca2280ef775cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a248721940247bc6f98f3032641103e6f"><td class="memItemLeft" align="right" valign="top"><a id="a248721940247bc6f98f3032641103e6f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a248721940247bc6f98f3032641103e6f">getHeur</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:a248721940247bc6f98f3032641103e6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clculate heuristic. <br /></td></tr>
<tr class="separator:a248721940247bc6f98f3032641103e6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75f8242a44d967e0dd8f4b0fef2cbf3f"><td class="memItemLeft" align="right" valign="top"><a id="a75f8242a44d967e0dd8f4b0fef2cbf3f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a75f8242a44d967e0dd8f4b0fef2cbf3f">hasForced</a> (int x, int y, int dx, int dy)</td></tr>
<tr class="memdesc:a75f8242a44d967e0dd8f4b0fef2cbf3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine if (x, y) has forced neighbor with direction (dx, dy) <br /></td></tr>
<tr class="separator:a75f8242a44d967e0dd8f4b0fef2cbf3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a69464dc4f6c7c3ce4083f47dc5542f76"><td class="memItemLeft" align="right" valign="top"><a id="a69464dc4f6c7c3ce4083f47dc5542f76"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a69464dc4f6c7c3ce4083f47dc5542f76">hasForced</a> (int x, int y, int z, int dx, int dy, int dz)</td></tr>
<tr class="memdesc:a69464dc4f6c7c3ce4083f47dc5542f76"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine if (x, y, z) has forced neighbor with direction (dx, dy, dz) <br /></td></tr>
<tr class="separator:a69464dc4f6c7c3ce4083f47dc5542f76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a316a3d39455f57cf362dd9f3487d4e83"><td class="memItemLeft" align="right" valign="top"><a id="a316a3d39455f57cf362dd9f3487d4e83"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a316a3d39455f57cf362dd9f3487d4e83">jump</a> (int x, int y, int dx, int dy, int &amp;new_x, int &amp;new_y)</td></tr>
<tr class="memdesc:a316a3d39455f57cf362dd9f3487d4e83"><td class="mdescLeft">&#160;</td><td class="mdescRight">2D jump, return true iff finding the goal or a jump point <br /></td></tr>
<tr class="separator:a316a3d39455f57cf362dd9f3487d4e83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ef84e9ac7422ab0d63c9b0587e72ae6"><td class="memItemLeft" align="right" valign="top"><a id="a2ef84e9ac7422ab0d63c9b0587e72ae6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a2ef84e9ac7422ab0d63c9b0587e72ae6">jump</a> (int x, int y, int z, int dx, int dy, int dz, int &amp;new_x, int &amp;new_y, int &amp;new_z)</td></tr>
<tr class="memdesc:a2ef84e9ac7422ab0d63c9b0587e72ae6"><td class="mdescLeft">&#160;</td><td class="mdescRight">3D jump, return true iff finding the goal or a jump point <br /></td></tr>
<tr class="separator:a2ef84e9ac7422ab0d63c9b0587e72ae6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a19ec26e813b0d110bfd3fb3df7580a1f"><td class="memItemLeft" align="right" valign="top"><a id="a19ec26e813b0d110bfd3fb3df7580a1f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1GraphSearch.html#a19ec26e813b0d110bfd3fb3df7580a1f">init2DJps</a> ()</td></tr>
<tr class="memdesc:a19ec26e813b0d110bfd3fb3df7580a1f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize 2D jps arrays. <br /></td></tr>
<tr class="separator:a19ec26e813b0d110bfd3fb3df7580a1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a19ff529ee822ebbdaadf90b4e6b50b4d"><td class="memItemLeft" align="right" valign="top"><a id="a19ff529ee822ebbdaadf90b4e6b50b4d"></a>
const char *&#160;</td><td class="memItemRight" valign="bottom"><b>cMap_</b></td></tr>
<tr class="separator:a19ff529ee822ebbdaadf90b4e6b50b4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0be9323bb98003826f4ee3b31d9811a6"><td class="memItemLeft" align="right" valign="top"><a id="a0be9323bb98003826f4ee3b31d9811a6"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>xDim_</b></td></tr>
<tr class="separator:a0be9323bb98003826f4ee3b31d9811a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33d592fc21f0872546364703dcac1bef"><td class="memItemLeft" align="right" valign="top"><a id="a33d592fc21f0872546364703dcac1bef"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>yDim_</b></td></tr>
<tr class="separator:a33d592fc21f0872546364703dcac1bef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1dd9827e96e3f46d3eb2b616ac20000"><td class="memItemLeft" align="right" valign="top"><a id="ac1dd9827e96e3f46d3eb2b616ac20000"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>zDim_</b></td></tr>
<tr class="separator:ac1dd9827e96e3f46d3eb2b616ac20000"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58182b87cf68eba55de25fc80c1f538a"><td class="memItemLeft" align="right" valign="top"><a id="a58182b87cf68eba55de25fc80c1f538a"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>eps_</b></td></tr>
<tr class="separator:a58182b87cf68eba55de25fc80c1f538a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4134f8e4f56ea3df18ad2a756c54431b"><td class="memItemLeft" align="right" valign="top"><a id="a4134f8e4f56ea3df18ad2a756c54431b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>verbose_</b></td></tr>
<tr class="separator:a4134f8e4f56ea3df18ad2a756c54431b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0c6ebeed2a03e6037e1cbd13ad95134d"><td class="memItemLeft" align="right" valign="top"><a id="a0c6ebeed2a03e6037e1cbd13ad95134d"></a>
const char&#160;</td><td class="memItemRight" valign="bottom"><b>val_free_</b> = 0</td></tr>
<tr class="separator:a0c6ebeed2a03e6037e1cbd13ad95134d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a67d24c85f71a00f26a388d9bbfbbbe75"><td class="memItemLeft" align="right" valign="top"><a id="a67d24c85f71a00f26a388d9bbfbbbe75"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>xGoal_</b></td></tr>
<tr class="separator:a67d24c85f71a00f26a388d9bbfbbbe75"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acece09e719e5e8d766cbbe2338e6eae3"><td class="memItemLeft" align="right" valign="top"><a id="acece09e719e5e8d766cbbe2338e6eae3"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>yGoal_</b></td></tr>
<tr class="separator:acece09e719e5e8d766cbbe2338e6eae3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a227dfa36e9f74401cd7a79a7fc302e1a"><td class="memItemLeft" align="right" valign="top"><a id="a227dfa36e9f74401cd7a79a7fc302e1a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>zGoal_</b></td></tr>
<tr class="separator:a227dfa36e9f74401cd7a79a7fc302e1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b0896cefaa10f38b60ca4ac765be6c7"><td class="memItemLeft" align="right" valign="top"><a id="a6b0896cefaa10f38b60ca4ac765be6c7"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_2d_</b></td></tr>
<tr class="separator:a6b0896cefaa10f38b60ca4ac765be6c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acfada082babbd5b5c1444bae44478fce"><td class="memItemLeft" align="right" valign="top"><a id="acfada082babbd5b5c1444bae44478fce"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_jps_</b> = false</td></tr>
<tr class="separator:acfada082babbd5b5c1444bae44478fce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29dde684f19a551c8660e7927636fe3d"><td class="memItemLeft" align="right" valign="top"><a id="a29dde684f19a551c8660e7927636fe3d"></a>
priorityQueue&#160;</td><td class="memItemRight" valign="bottom"><b>pq_</b></td></tr>
<tr class="separator:a29dde684f19a551c8660e7927636fe3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9f53d23d07e68f0bd39564e8755c44c"><td class="memItemLeft" align="right" valign="top"><a id="ad9f53d23d07e68f0bd39564e8755c44c"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>hm_</b></td></tr>
<tr class="separator:ad9f53d23d07e68f0bd39564e8755c44c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fe734198f389e5456598efe83d12586"><td class="memItemLeft" align="right" valign="top"><a id="a8fe734198f389e5456598efe83d12586"></a>
std::vector&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>seen_</b></td></tr>
<tr class="separator:a8fe734198f389e5456598efe83d12586"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2f8fd0b0a314600c6c7bf8614d2bb75"><td class="memItemLeft" align="right" valign="top"><a id="ad2f8fd0b0a314600c6c7bf8614d2bb75"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>path_</b></td></tr>
<tr class="separator:ad2f8fd0b0a314600c6c7bf8614d2bb75"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d8954be8ce86cdc057bc793c627040c"><td class="memItemLeft" align="right" valign="top"><a id="a2d8954be8ce86cdc057bc793c627040c"></a>
std::vector&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ns_</b></td></tr>
<tr class="separator:a2d8954be8ce86cdc057bc793c627040c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab508092178b923e00521ffe4069d43e6"><td class="memItemLeft" align="right" valign="top"><a id="ab508092178b923e00521ffe4069d43e6"></a>
std::shared_ptr&lt; <a class="el" href="structJPS_1_1JPS2DNeib.html">JPS2DNeib</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>jn2d_</b></td></tr>
<tr class="separator:ab508092178b923e00521ffe4069d43e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad20b80e57fc31e272e73d3f1b9c1aac8"><td class="memItemLeft" align="right" valign="top"><a id="ad20b80e57fc31e272e73d3f1b9c1aac8"></a>
std::shared_ptr&lt; <a class="el" href="structJPS_1_1JPS3DNeib.html">JPS3DNeib</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>jn3d_</b></td></tr>
<tr class="separator:ad20b80e57fc31e272e73d3f1b9c1aac8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classJPS_1_1GraphSearch.html" title="GraphSearch class. ">GraphSearch</a> class. </p>
<p>Implement A* and Jump Point Search </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="aed8ddc08aa6e343b095505c230c4294b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aed8ddc08aa6e343b095505c230c4294b">&#9670;&nbsp;</a></span>GraphSearch() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">GraphSearch::GraphSearch </td>
          <td>(</td>
          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>cMap</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>eps</em> = <code>1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>verbose</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>2D graph search constructor </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cMap</td><td>1D array stores the occupancy, with the order equal to <img class="formulaInl" alt="$x + xDim * y$" src="form_0.png"/> </td></tr>
    <tr><td class="paramname">xDim</td><td>map length </td></tr>
    <tr><td class="paramname">yDim</td><td>map width </td></tr>
    <tr><td class="paramname">eps</td><td>weight of heuristic, optional, default as 1 </td></tr>
    <tr><td class="paramname">verbose</td><td>flag for printing debug info, optional, default as false </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a9025917e37cc0e2d551e1f92bb8360df"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9025917e37cc0e2d551e1f92bb8360df">&#9670;&nbsp;</a></span>GraphSearch() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">GraphSearch::GraphSearch </td>
          <td>(</td>
          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>cMap</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>zDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>eps</em> = <code>1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>verbose</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>3D graph search constructor </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cMap</td><td>1D array stores the occupancy, with the order equal to <img class="formulaInl" alt="$x + xDim * y + xDim * yDim * z$" src="form_1.png"/> </td></tr>
    <tr><td class="paramname">xDim</td><td>map length </td></tr>
    <tr><td class="paramname">yDim</td><td>map width </td></tr>
    <tr><td class="paramname">zDim</td><td>map height </td></tr>
    <tr><td class="paramname">eps</td><td>weight of heuristic, optional, default as 1 </td></tr>
    <tr><td class="paramname">verbose</td><td>flag for printing debug info, optional, default as False </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="aba5529f28299cb6045efe5ab48990d94"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aba5529f28299cb6045efe5ab48990d94">&#9670;&nbsp;</a></span>plan() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool GraphSearch::plan </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>useJps</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxExpand</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>start 2D planning thread </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xStart</td><td>start x coordinate </td></tr>
    <tr><td class="paramname">yStart</td><td>start y coordinate </td></tr>
    <tr><td class="paramname">xGoal</td><td>goal x coordinate </td></tr>
    <tr><td class="paramname">yGoal</td><td>goal y coordinate </td></tr>
    <tr><td class="paramname">useJps</td><td>if true, enable JPS search; else the planner is implementing A* </td></tr>
    <tr><td class="paramname">maxExpand</td><td>maximum number of expansion allowed, optional, default is -1, means no limitation </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a49634772a36c414fcfdb80a0ba17ef63"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a49634772a36c414fcfdb80a0ba17ef63">&#9670;&nbsp;</a></span>plan() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool GraphSearch::plan </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>zStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>zGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>useJps</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxExpand</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>start 3D planning thread </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xStart</td><td>start x coordinate </td></tr>
    <tr><td class="paramname">yStart</td><td>start y coordinate </td></tr>
    <tr><td class="paramname">zStart</td><td>start z coordinate </td></tr>
    <tr><td class="paramname">xGoal</td><td>goal x coordinate </td></tr>
    <tr><td class="paramname">yGoal</td><td>goal y coordinate </td></tr>
    <tr><td class="paramname">zGoal</td><td>goal z coordinate </td></tr>
    <tr><td class="paramname">useJps</td><td>if true, enable JPS search; else the planner is implementing A* </td></tr>
    <tr><td class="paramname">maxExpand</td><td>maximum number of expansion allowed, optional, default is -1, means no limitation </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/jps_planner/jps_planner/<a class="el" href="jps__planner_2graph__search_8h_source.html">graph_search.h</a></li>
<li>src/jps_planner/graph_search.cpp</li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.13
</small></address>
</body>
</html>
